version: 66.07.10.p01
glider: 573
mission: 12
dive: 188
start: 9 4 115 14 40 6
data:
$ID,573
$MISSION,12
$DIVE,188
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21591.807
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.994217
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,187
$GPS1,040915,143133,-4505.430,625.024,25,1.1,25,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-71.8
$GPS2,040915,143946,-4505.513,625.104,18,1.4,18,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,357.1,3153,-27.7,-8.547
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.09,-49.9,0.0,0.0,0,46,0.00,0.00,-19.92,0.000,2,0.000,0.000,63,2068,1529,0,0,0,0,0,0
$GC,48,-1.12,-100.8,3.1,-2.7,3,105,11.18,0.00,-38.47,0.000,6,0.238,0.000,2819,2064,2362,0,0,0,0,0,0
$GC,157,-1.07,-100.8,10.4,-15.9,20,165,0.08,2.33,0.00,0.000,4,0.209,0.054,2836,662,2364,0,0,0,0,0,0
$GC,174,-0.99,-100.8,13.6,-16.9,22,182,0.08,2.25,0.00,0.000,6,0.175,0.039,2851,2061,2364,0,0,0,0,0,0
$GC,233,-0.99,-100.8,22.9,-15.4,31,240,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2061,2364,0,0,0,0,0,0
$GC,383,-0.99,-100.8,46.2,-15.0,56,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2061,2365,0,0,0,0,0,0
$GC,729,-0.99,-100.8,98.0,-14.4,117,736,0.00,2.30,0.00,0.000,4,0.000,0.063,2840,3463,2365,0,0,0,0,0,0
$GC,822,-0.99,-100.8,111.6,-14.3,127,826,0.08,2.17,0.00,0.000,6,0.198,0.042,2857,2056,2365,0,0,0,0,0,0
$GC,1149,-1.03,-100.8,155.5,-12.9,157,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2056,2365,0,0,0,0,0,0
$GC,1466,-1.09,-100.8,195.9,-12.1,187,1468,0.08,0.00,0.00,0.000,6,0.122,0.000,2815,2056,2365,0,0,0,0,0,0
$GC,1786,-1.09,-100.8,238.5,-13.3,217,1788,0.08,0.00,0.00,0.000,6,0.203,0.000,2831,2056,2366,0,0,0,0,0,0
$GC,2102,-1.09,-100.8,280.4,-13.7,247,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2056,2366,0,0,0,0,0,0
$GC,2423,-1.09,-100.8,324.8,-14.3,277,2427,0.00,2.28,0.00,0.000,4,0.000,0.061,2822,3465,2366,0,0,0,0,0,0
$GC,2463,-1.09,-100.8,331.2,-15.6,280,2467,0.00,2.15,0.00,0.000,6,0.000,0.042,2822,2060,2366,0,0,0,0,0,0
$GC,2787,-1.09,-100.8,378.7,-14.9,310,2791,0.00,2.22,0.00,0.000,4,0.000,0.059,2813,3466,2366,0,0,0,0,0,0
$GC,2808,-1.09,-100.8,382.2,-15.5,311,2815,0.05,2.20,0.00,0.000,6,0.167,0.043,2829,2062,2366,0,0,0,0,0,0
$GC,3139,-1.09,-100.8,430.4,-14.8,333,3143,0.00,2.25,0.00,0.000,4,0.000,0.059,2820,3475,2366,0,0,0,0,0,0
$GC,3178,-1.09,-100.8,436.5,-15.5,335,3182,0.00,2.17,0.00,0.000,6,0.000,0.043,2820,2058,2366,0,0,0,0,0,0
$GC,3504,-1.09,-100.8,485.6,-14.9,351,3508,0.00,2.25,0.00,0.000,4,0.000,0.061,2811,3468,2366,0,0,0,0,0,0
$GC,3569,-1.09,-100.8,496.0,-15.9,354,3574,0.05,2.20,0.00,0.000,6,0.166,0.044,2828,2066,2366,0,0,0,0,0,0
$GC,3897,-1.09,-100.8,543.6,-14.4,370,3901,0.00,2.22,0.00,0.000,4,0.000,0.057,2819,3472,2366,0,0,0,0,0,0
$GC,3917,-1.09,-100.8,546.9,-14.9,371,3922,0.00,2.22,0.00,0.000,6,0.000,0.044,2819,2054,2366,0,0,0,0,0,0
$GC,4245,-1.09,-100.8,594.0,-14.3,387,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2054,2366,0,0,0,0,0,0
$GC,4554,-1.09,-100.8,635.2,-13.0,402,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2054,2365,0,0,0,0,0,0
$GC,4864,-1.09,-100.8,673.5,-12.5,417,4868,0.00,2.25,0.00,0.000,4,0.000,0.062,2810,3463,2364,0,0,0,0,0,0
$GC,4974,-1.09,-100.8,688.2,-12.1,422,4980,0.05,2.20,0.00,0.000,6,0.168,0.043,2826,2063,2365,0,0,0,0,0,0
$GC,5302,-1.09,-100.8,726.1,-11.4,438,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2063,2364,0,0,0,0,0,0
$GC,5611,-1.09,-100.8,761.4,-11.4,453,5615,0.00,2.22,0.00,0.000,4,0.000,0.057,2826,647,2364,0,0,0,0,0,0
$GC,5631,-1.09,-100.8,764.2,-12.4,454,5636,0.00,2.22,0.00,0.000,6,0.000,0.042,2817,2058,2364,0,0,0,0,0,0
$GC,5959,-1.09,-100.8,801.5,-11.5,470,5961,0.05,0.00,0.00,0.000,6,0.244,0.000,2827,2058,2364,0,0,0,0,0,0
$GC,6269,-1.12,-100.8,835.5,-10.9,485,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2363,0,0,0,0,0,0
$GC,6578,-1.15,-100.8,870.5,-11.2,500,6582,0.00,2.25,0.00,0.000,4,0.000,0.063,2817,3464,2363,0,0,0,0,0,0
$GC,6707,-1.15,-100.8,886.1,-12.8,506,6711,0.00,2.20,0.00,0.000,6,0.000,0.044,2817,2046,2363,0,0,0,0,0,0
$GC,7033,-1.15,-100.8,923.8,-11.7,522,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2046,2363,0,0,0,0,0,0
$GC,7342,-1.15,-100.8,961.3,-11.9,537,7346,0.00,2.20,0.00,0.000,4,0.000,0.056,2817,652,2363,0,0,0,0,0,0
$GC,7373,-1.15,-100.8,965.5,-12.6,538,7380,0.00,2.22,0.00,0.000,6,0.000,0.044,2808,2058,2363,0,0,0,0,0,0
$STATE,7667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7668,begin apogee
$GC,7673,-0.19,0.0,1001.4,12.3,553,7769,1.05,0.00,93.00,1.292,6,0.166,0.000,3118,1595,1949,0,0,0,0,0,0
$STATE,7770,end apogee,CONTROL_FINISHED_OK
$STATE,7770,begin climb
$GC,7772,1.12,100.8,1004.5,0.0,558,7878,1.27,2.47,96.47,1.254,4,0.089,0.052,3553,205,1537,0,0,0,0,0,0
$GC,7963,1.12,100.8,983.5,14.5,567,7968,0.00,2.30,0.00,0.000,6,0.000,0.034,3553,1613,1532,0,0,0,0,0,0
$GC,8290,1.12,100.8,936.1,14.4,583,8294,0.00,2.35,0.00,0.000,4,0.000,0.050,3562,198,1529,0,0,0,0,0,0
$GC,8378,1.09,100.8,922.4,16.4,587,8383,0.10,2.25,0.00,0.000,6,0.187,0.037,3539,1610,1528,0,0,0,0,0,0
$GC,8705,1.12,100.8,877.2,14.0,603,8709,0.00,2.30,0.00,0.000,4,0.000,0.051,3548,191,1527,0,0,0,0,0,0
$GC,8759,1.12,100.8,869.1,15.4,605,8766,0.00,2.25,0.00,0.000,6,0.000,0.036,3548,1605,1527,0,0,0,0,0,0
$GC,9076,1.12,100.8,823.7,14.5,621,9080,0.00,2.20,0.00,0.000,4,0.000,0.053,3548,2994,1526,0,0,0,0,0,0
$GC,9137,1.12,100.8,814.2,15.7,624,9141,0.00,2.15,0.00,0.000,6,0.000,0.036,3557,1599,1526,0,0,0,0,0,0
$GC,9465,1.12,100.8,766.0,14.5,640,9469,0.00,2.25,0.00,0.000,4,0.000,0.054,3568,196,1526,0,0,0,0,0,0
$GC,9651,1.08,100.8,737.8,15.1,648,9656,0.12,2.20,0.00,0.000,6,0.187,0.037,3537,1608,1525,0,0,0,0,0,0
$GC,9966,1.13,100.8,696.3,13.2,663,9970,0.00,2.28,0.00,0.000,4,0.000,0.052,3547,189,1525,0,0,0,0,0,0
$GC,10051,1.13,100.8,684.7,13.5,667,10055,0.00,2.17,0.00,0.000,6,0.000,0.035,3546,1609,1525,0,0,0,0,0,0
$GC,10377,1.16,100.8,641.6,13.2,683,10381,0.00,2.17,0.00,0.000,4,0.000,0.053,3546,2999,1525,0,0,0,0,0,0
$GC,10442,1.16,100.8,632.7,13.3,686,10447,0.00,2.17,0.00,0.000,6,0.000,0.035,3555,1599,1525,0,0,0,0,0,0
$GC,10770,1.16,100.8,591.5,12.3,702,10774,0.00,2.25,0.00,0.000,4,0.000,0.054,3565,190,1524,0,0,0,0,0,0
$GC,10959,1.16,100.8,566.6,13.3,710,10965,0.00,2.20,0.00,0.000,6,0.000,0.034,3565,1598,1524,0,0,0,0,0,0
$GC,11275,1.16,100.8,527.1,12.3,726,11277,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1598,1524,0,0,0,0,0,0
$GC,11585,1.16,100.8,488.1,12.8,741,11586,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1598,1524,0,0,0,0,0,0
$GC,11894,1.16,100.8,449.0,12.8,756,11898,0.00,2.25,0.00,0.000,4,0.000,0.052,3575,196,1524,0,0,0,0,0,0
$GC,11978,1.12,100.8,437.8,13.7,760,11983,0.10,2.17,0.00,0.000,6,0.194,0.037,3551,1620,1524,0,0,0,0,0,0
$GC,12306,1.16,100.8,398.0,11.8,776,12310,0.00,2.28,0.00,0.000,4,0.000,0.051,3559,189,1523,0,0,0,0,0,0
$GC,12428,1.16,100.8,381.6,13.4,786,12435,0.00,2.20,0.00,0.000,6,0.000,0.036,3559,1597,1523,0,0,0,0,0,0
$GC,12756,1.16,100.8,340.7,12.8,817,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1597,1523,0,0,0,0,0,0
$GC,13073,1.16,100.8,300.6,12.2,847,13077,0.00,2.22,0.00,0.000,4,0.000,0.050,3569,193,1523,0,0,0,0,0,0
$GC,13112,1.16,100.8,295.5,12.7,850,13116,0.00,2.17,0.00,0.000,6,0.000,0.037,3569,1602,1523,0,0,0,0,0,0
$GC,13437,1.16,100.8,255.5,11.8,880,13441,0.00,2.25,0.00,0.000,4,0.000,0.051,3578,198,1523,0,0,0,0,0,0
$GC,13514,1.13,100.8,245.6,12.1,886,13521,0.08,2.20,0.00,0.000,6,0.168,0.036,3554,1610,1523,0,0,0,0,0,0
$GC,13842,1.16,100.8,209.3,10.9,917,13843,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1610,1523,0,0,0,0,0,0
$GC,14159,1.21,100.8,173.7,11.2,947,14163,0.00,2.28,0.00,0.000,4,0.000,0.052,3562,187,1523,0,0,0,0,0,0
$GC,14294,1.21,100.8,157.2,11.9,958,14299,0.00,2.17,0.00,0.000,6,0.000,0.034,3563,1611,1523,0,0,0,0,0,0
$GC,14621,1.24,100.8,121.8,11.2,989,14626,0.05,2.25,0.00,0.000,4,0.168,0.050,3605,195,1522,0,0,0,0,0,0
$GC,14709,1.16,100.8,109.6,14.1,996,14718,0.15,2.17,0.00,0.000,6,0.171,0.035,3561,1601,1523,0,0,0,0,0,0
$GC,15052,1.20,100.8,70.5,10.9,1049,15057,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1601,1523,0,0,0,0,0,0
$GC,15406,1.25,100.8,32.6,10.8,1110,15414,0.08,2.25,0.00,0.000,4,0.131,0.051,3606,198,1523,0,0,0,0,0,0
$STATE,15628,end climb,SURFACE_DEPTH_REACHED
$STATE,15628,begin surface coast
$FINISH,1.7,1.014643
$STATE,15654,end surface coast,CONTROL_FINISHED_OK
$STATE,15654,begin surface
$SM_CCo,15673,46.30,0.056,0,0,1132,200.16
$SM_GC,3.41,0.00,0.00,46.30,0.000,0.000,0.056,61,2070,1132,-9.76,0.31,200.16
$IRIDIUM_FIX,-4450.47,723.78,300608,222245
$TT8_MAMPS,0.026964
$HUMID,62.95
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,23.3,25.217
$10V_AH,10.0,26.060
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.075,117.500,189.475,46.300,0.000,27.813,44.125,291.717,0.000,0.000,21.016,2858.008,9692.428,346.369,3142.239,167.635,0.000,1451.306,0.000,2609.795,0.000,0.539,0.000
$DEVICE_MAMPS,244.035,63.495,1292.085,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,802.246,2119.139,870.205,471.298,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353360
$DATA_FILE_SIZE,80364,1150
$CAP_FILE_SIZE,148170,0
$CFSIZE,2097086464,2067464192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040915,190303,-4505.362,625.050,22,1.0,22,-24.4